U.S. patent application number 11/670562 was filed with the patent office on 2008-08-07 for trailer detection system.
Invention is credited to Stephen J. Buckley.
Application Number | 20080186204 11/670562 |
Document ID | / |
Family ID | 39675707 |
Filed Date | 2008-08-07 |
United States Patent
Application |
20080186204 |
Kind Code |
A1 |
Buckley; Stephen J. |
August 7, 2008 |
TRAILER DETECTION SYSTEM
Abstract
A proximity sensor system for a vehicle includes a first remote
sensor that senses objects in a rearward area relative to the
vehicle. A trailer detection module determines that one of the
objects is a trailer that is attached to the vehicle based on a
repeating pattern of signals from the first remote sensor. A
response module selectively responds to the objects other than the
trailer based on the objects outside of a predetermined distance
threshold. An indicator responds to response module signals.
Inventors: |
Buckley; Stephen J.; (Novi,
MI) |
Correspondence
Address: |
DAIMLERCHRYSLER INTELLECTUAL CAPITAL CORPORATION;CIMS 483-02-19
800 CHRYSLER DR EAST
AUBURN HILLS
MI
48326-2757
US
|
Family ID: |
39675707 |
Appl. No.: |
11/670562 |
Filed: |
February 2, 2007 |
Current U.S.
Class: |
340/901 ;
340/431; 340/686.1 |
Current CPC
Class: |
G08G 1/167 20130101;
G01S 2007/4039 20130101; G08G 1/165 20130101; G01S 2013/9315
20200101; G01S 13/87 20130101; G01S 13/931 20130101; G01S 2013/9323
20200101; G01S 2013/93274 20200101; G01S 2013/93272 20200101; G08G
1/166 20130101 |
Class at
Publication: |
340/901 ;
340/431; 340/686.1 |
International
Class: |
G08G 1/00 20060101
G08G001/00 |
Claims
1. A proximity sensor system for a vehicle comprising: a first
remote sensor that senses objects in a rearward area relative to
the vehicle; a trailer detection module that determines that one of
said objects is a trailer that is attached to the vehicle based on
a repeating pattern of signals from said first remote sensor; a
response module that selectively responds to said objects other
than said trailer based on said objects outside of a predetermined
distance threshold; and an indicator that responds to response
module signals.
2. The system of claim 1 further comprising a second remote sensor
that senses objects in another rearward area relative to the
vehicle.
3. The system of claim 1 wherein said first remote sensor comprises
at least one of a radar sensor, a lidar sensor, and a visual
sensor.
4. The system of claim 1 wherein said response module selectively
responds to all of said objects within said predetermined distance
threshold.
5. The system of claim 1 further comprising an object tracking
module that tracks position information for said objects.
6. The system of claim 5 further comprising an estimation module
that estimates a threat of impact between the vehicle and said
objects based on object tracking module signals.
7. The system of claim 6 wherein said response module selectively
responds to said objects based on signals from said estimation
module.
8. The system of claim 6 further comprising a kinematics module
that generates position and angular direction signals of the
vehicle, wherein said estimation module generates said threat of
impact based on kinematics module signals.
9. The system of claim 8 further comprising a control area network
communications bus, wherein said kinematics module communicates
through said control area network communication bus.
10. The system of claim 1 wherein said indicator comprises left and
right side mirror indicators that selectively display icons based
on said response module signals indicating one of said objects on
at least one of left and right sides of the vehicle.
12. The system of claim 1 wherein said indicator comprises a
display that indicates a relative distance of the vehicle to said
trailer.
13. The system of claim 1 wherein said indicator comprises an
audible alert device that comprises at least one of a chime and a
buzzer.
14. The system of claim 1 further comprising a stability control
module that controls stability of the vehicle based on said trailer
detection module signals.
15. The system of claim 1 further comprising an override module
that overrides said response module.
16. A proximity sensor system for a vehicle comprising: a first
remote sensor that senses first objects in a right rearward area
relative to the vehicle; a second remote sensor that senses second
objects in a left rearward area relative to the vehicle; a steering
angle sensor that senses a steering angle of the vehicle; a trailer
detection module that determines that one of said first and second
objects is a trailer that is attached to the vehicle based on a
repeating pattern of signals from said first and second remote
sensors and further based on said steering angle; a response module
that selectively responds to said first and second object other
than said trailer based on said first and second objects outside of
a predetermined distance threshold; and an indicator that responds
to response module signals.
17. The system of claim 16 wherein said response module initially
responds to said trailer.
18. The system of claim 16 wherein said response module responds to
all of said first and second objects within said predetermined
distance threshold.
19. The system of claim 16 wherein a stability control module
responds to response module signals.
20. A control method for a remote sensor system for a vehicle
comprising: sensing first objects in a right rearward area relative
to the vehicle; sensing second objects in a left rearward area
relative to the vehicle; sensing a steering angle of the vehicle;
determining that one of said first and second objects is a trailer
that is attached to the vehicle based on repeating patterns within
said right and left rearward areas and said steering angle; and
selectively responding to said first and second objects other than
said trailer based on said first and second objects outside of a
predetermined distance threshold. _
Description
FIELD OF THE DISCLOSURE
[0001] The present disclosure relates to sensor systems and more
particularly to remote sensing systems for vehicles.
BACKGROUND OF THE DISCLOSURE
[0002] The background description provided herein is for the
purpose of generally presenting the context of the disclosure. Work
of the presently names inventors, to the extent it is described in
this background section, as well as aspects of the description that
may not otherwise qualify as prior art at the time of filing, are
neither expressly nor impliedly admitted as prior art against the
present disclosure.
[0003] Drivers are often required to exercise judgment in the
maneuvering of vehicles with respect to other objects that may be
stationary or in motion. Such objects may be street signs,
pedestrians, or other vehicles. This is particularly apparent when
a vehicle is in reverse negotiating a parking space, driveway
and/or when the vehicle is towing a trailer, caravan, or other
object. Although the use of side mirrors can assist, there may be
blind spots. Many vehicles include proximity sensing systems that
provide the driver an indication of an object or, more preferably,
the proximity of the object that may be obscured by a blind
spot.
[0004] Proximity sensing systems may include rearwardly mounted
sensors that detect when an object to be towed is fitted to the
vehicle. The rearwardly mounted sensors may indicate the location
of the towed object. Reversing or turning with a towed object may
be considerably difficult both in terms of judgment and
feasibility. Providing accurate proximity information to the driver
may improve vehicle navigation.
SUMMARY OF THE DISCLOSURE
[0005] A proximity sensor system for a vehicle includes a first
remote sensor that senses objects in a rearward area relative to
the vehicle. A trailer detection module determines that one of the
objects is a trailer that is attached to the vehicle based on a
repeating pattern of signals from the first remote sensor. A
response module selectively responds to the objects other than the
trailer based on the objects outside of a predetermined distance
threshold. An indicator responds to response module signals.
[0006] In other features, a method for controlling a remote sensor
system for a vehicle includes sensing first objects in a right
rearward area relative to the vehicle. The method also includes
sensing second objects in a left rearward area relative to the
vehicle and sensing a steering angle of the vehicle. The method
includes determining that one of the first and second objects is a
trailer that is attached to the vehicle based on repeating patterns
within the right and left rearward areas and the steering angle.
The method includes selectively responding to the first and second
objects other than the trailer based on the first and second
objects outside of a predetermined distance threshold.
[0007] Further areas of applicability of the present disclosure
will become apparent from the detailed description provided
hereinafter. It should be understood that the detailed description
and specific examples, while indicating the preferred embodiment of
the disclosure, are intended for purposes of illustration only and
are not intended to limit the scope of the disclosure.
BRIEF DESCRIPTION OF THE DRAWINGS
[0008] The present disclosure will become more fully understood
from the detailed description and the accompanying drawings,
wherein:
[0009] FIG. 1 is a block diagram illustrating a proximity sensor
system for a vehicle in accordance with the present disclosure;
[0010] FIG. 2 is a schematic diagram illustrating operation of the
proximity sensor system in accordance with the present
disclosure;
[0011] FIG. 3 is a schematic diagram illustrating operation of the
proximity sensor system in accordance with the present
disclosure;
[0012] FIG. 4 is a schematic diagram illustrating operation of the
proximity sensor system in accordance with the present
disclosure;
[0013] FIG. 5 is a schematic diagram illustrating operation of the
proximity sensor system in accordance with the present disclosure;
and
[0014] FIG. 6 is a block diagram illustrating a method for
operating the proximity sensor system in accordance with the
present disclosure.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS
[0015] The following description is merely exemplary in nature and
is in no way intended to limit the disclosure, its application, or
uses. For purposes of clarity, the same reference numbers will be
used in the drawings to identify similar elements. As used herein,
the term module refers to an Application Specific Integrated
Circuit (ASIC), an electronic circuit, a processor (shared,
dedicated, or group) and memory that execute one or more software
or firmware programs, a combinational logic circuit, and/or other
suitable components that provide the described functionality. As
used herein, the phrase at least one of A, B, and C should be
construed to mean a logical (A or B or C), using a non-exclusive
logical or. It should be understood that steps within a method may
be executed in different order without altering the principles of
the present disclosure.
[0016] The present disclosure includes a vehicle proximity system
that detects position and/or movement of a trailer, such as a boat,
utility, or camper trailer, with respect to a vehicle.
[0017] Referring now to FIG. 1, the vehicle proximity system 10
includes a control module 12 that receives remote signals from
first and second remote sensors 14, 16 and a steering angle sensor
19 that are coupled to a vehicle. A trailer detection module 18 of
the control module 12 receives sensor signals and determines that a
trailer is attached to the vehicle. An object classification module
22 may track all objects sensed by the first and second remote
sensors 14, 16.
[0018] An object tracking module 24 tracks the trailer based on
trailer detection module signals. An estimation module 26 estimates
a threat, such as a threat of jackknifing the trailer. The
estimation module 26 also estimates the threat of impact between
the vehicle and an external object based on object tracking module
signals, signals from a kinematics module 28, and/or signals from a
stability control system 29. Kinematics module signals may indicate
the position and direction of movement of the vehicle based on
signals from vehicle sensors 31. The kinematics module 28 may
communicate with the control module 12 through a wired or wireless
control area network (CAN) bus of the vehicle. The system 10 may
broadcast over the CAN bus the identification of the trailer.
[0019] A response module 30 responds to estimation module signals
and determines various responses, if any, that vehicle systems will
generate based on estimation module signals. The response module 30
may be overridden by an override module 32 controlled by a driver
override device 34. The response module 30 may generate signals
that control a notification module 36 such that the notification
module 36 controls indicators, such as audible and/or visual
indicators for the driver. Such indicators may include a visual
display, such as parking display 38, a left mirror notification
device 40, and/or a right mirror notification device 42. Such
indicators may also include audible devices, such as chimes or
buzzers 41. The indications may also display a message that a
trailer was detected and/or request driver input as
confirmation.
[0020] The stability control system 29 may use response module 30
signals to maintain stability of the vehicle through changing a
stability algorithm based on knowledge of the trailer. Other
on-board electronic or mechanical systems may benefit from
detection of an attached trailer. For example, a transmission of
the vehicles may use a modified shift pattern if the transmission
controller knows there is an extra load attached to the vehicle.
Further, the automatic suspension system may change a damping rate
of the vehicle based on the extra weight of the trailer.
[0021] Referring now to FIGS. 1 and 2, the vehicle proximity system
10, which may be a blind spot radar detection system, may operate
when a vehicle 100 is moving in a forward or reverse direction. The
system 10 alerts a driver to position of a trailer 102 and other
objects, such as vehicles that are laterally positioned in relation
to the vehicle 100 within zones of detection 104, 106 of the remote
sensors. The remote sensors 14, 16 may be radar, lidar, vision
based sensors or other remote sensors. The remote sensors 14, 16
may detect both position and speed of the trailer 102 and other
objects. Objects, such as the trailer 102, that meet alert criteria
within the response module 30 may trigger both the visual and/or
audible alert to the driver. The alert criteria may be based on
predetermined conditions where impact is likely to occur.
[0022] The sensors 14, 16 may identify the presence of garage
structures, vehicles, trees, bicycles, shopping carts, pedestrians,
fire hydrants, boulders, toys, and other objects on the sides of
the vehicle 100. All detected objects, regardless of size, moving
or stationary, may trigger a visual and/or audio alert
[0023] The vehicle 100 may include left and right side mirrors 130,
132. Left and right mirror notification devices 40, 42 may generate
icons that appear on the side mirrors 130, 132 to create a threat
and/or a degree of threat. An icon may appear on the mirrors 130,
132 on the side of the vehicle 100 corresponding to the detected
object. If objects are detected on both sides of the vehicle 100,
icons (e.g. left and right mirror notification devices 40, 42) on
both mirrors 130, 132 may be illuminated.
[0024] The vehicle 100 may also include the parking display 38 so
that there is a redundant/secondary visual indication of on object
in a rear cross path of the vehicles 100. A parking display 38,
such as a Parksense visual display or a Parktronics visual display,
may display a series of light-emitting diodes (LEDs) that indicate
to the driver how far the vehicle 100 is to objects off the rear
bumper of the vehicle 100. The parking display 38 may also include
arrow icons that illustrate which direction the object or threat is
in relation to the vehicle 100. The parking display 38 may
illuminate simultaneously with icons on side mirror 130, 132, such
that the driver may use side mirrors, rear view mirrors, or visual
confirmation through glancing back through a rear window of the
vehicle to determine threat and/or navigate the vehicle 100. The
response module may also trigger a chime and/or buzzer 41 that may
indicate relative threat to the vehicle based on estimation module
and response module signals.
[0025] In one embodiment of the disclosure, both a visual and an
audible alert may be triggered. During the audible alert, the
system 10 may mute a radio 150 and may provide a tone from either
or both a chime 41 and a parking display 38. These alerts may
remain in effect until the object is no longer present or the
object stops. If the object stops outside of a predetermined
distance threshold, such as 4 meters, both the visual and audible
alerts may cease. If the object stops inside of the threshold, the
audible alert may stop but the visual alert may continue.
[0026] The system 10 may continuously monitor the sensors 14, 16.
In the case of very wide trailers, the trailer may always be
visible to the sensors 14, 16. The front leading, edge corners of
the trailer may appear equidistant from the vehicle 100 as the
vehicle 100 and trailer 102 move in a straight line. Initially, the
response module 30 responds to all objects present in both radar
zones 104, 106 that that the estimation module determines to be a
potential threat. As time progresses, the trailer detection module
18 may identify the trailer 102 as an object that is continually
detected, and the response module 30 may turn off notification
signals relating to the trailer 102. The system 10 may identify
many different objects in the radar detection zone. Therefore, a
stationary object, such as an attached trailer, may not affect the
detection of other objects in the zones 104, 106.
[0027] Referring now to FIGS. 3 and 4, in an alternative
embodiment, the trailer 102 may be too slender to be visible to the
system 10 when the vehicle 100 is traveling in a straight line. The
system 10 may continuously monitor the radar sensors, 14, 16 for
input and correlate that data with steering angle sensor signals.
In other words, the front leading edge corners of the trailer 102
become visible as the vehicle 100 turns in an arc. The trailer
detection module 18 logs the steering angle and "object present"
data over time and detects a repeating pattern. Since the trailer
is assumed symmetrical, the corners of the trailer 102 may appear
at the same turning angle on both sides. The trailer detection
module 18 may also compare the opposite turning angle with sensor
information from the other vehicle side.
[0028] Initially, the response module 30 may activate blind spot
warning indicators when an object is present in either zone 104,
106 that meets the object warning criteria. As time progresses, the
system 10 can identify the trailer (repeated object appearances at
same turning angle) and turn off respective warnings.
[0029] Referring now to FIG. 5, the system 10 may also detect a
potential jackknife condition and alert the driver. As a vehicle
100 moves in reverse with a trailer 102 attached, the trailer 102
and vehicle 100 may back up on different vectors and enter a
jackknife condition. The object tracking module 24 may monitor for
objects that are moving within a minimum distance threshold to rear
quarter panels of the vehicle 100 and alert the driver through the
response module 30. Such objects may include trees, poles, other
cars, etc. The response module 30 may respond to a jackknife
condition by indicating that an object is too close to the vehicle
100.
[0030] Referring now to FIG. 6, a block diagram 300 illustrates an
exemplary method for operating the proximity sensor system in
accordance with the present disclosure. In step 302, the system
checks whether trailer attachment information is available, such as
driver input or hitch sensor data. In step 304, a right side remote
sensor senses objects in a an area rearward to the vehicle. In step
306, a left side remote sensor senses objects in another area
rearward to the vehicle. In step 308, the system notifies the
driver of objects detected by the right and left remote
sensors.
[0031] In step 310, if an object is not continually present in both
areas, step 312 determines whether there is a repeated pattern of
object occurrence. The repeated pattern determination may include
analyzing left and right sensor data in relation to left and right
steering angles of the vehicle. If steps 310, 312 are true, a step
314 determines that the object is a trailer. In step, 316 driver
notification is turned on with respect to notification based on the
trailer.
[0032] In operation, a control method foe a remote sensor system
for a vehicle includes sensing first objects in a right rearward
area relative to the vehicle. The method also includes sensing
second objects in a left rearward area relative to the vehicle and
sensing a steering angel of the vehicle. The method includes
determining that one of the first and second objects is a trailer
that is attached to the vehicle based on repeating patterns within
the right and left rearward areas and the steering angle. The
method includes selectively responding to the first and second
objects other than the trailer based on the first and second
objects outside of a predetermined distance threshold.
[0033] The description of the disclosure is merely exemplary in
nature and, thus, variations that do not depart from the gist of
the disclosure are intended to be within the scope of the
disclosure. Such variations are not to be regarded as a departure
from the spirit and scope of the disclosure.
* * * * *